CN110027688A - Quan Haishen unmanned submersible deep-sea lays recyclable device and implementation method - Google Patents
Quan Haishen unmanned submersible deep-sea lays recyclable device and implementation method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/19—Other loading or unloading equipment involving an intermittent action, not provided in groups B63B27/04 - B63B27/18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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Abstract
一种全海深无人潜水器深海布放回收装置及实现方法，包括：全海深无人潜水器、中继潜水器、主动光纤收放装置、被动光纤收放装置、光纤缆、零浮力缆、铠装金属脐带缆、水面吊放系统和水面监控动力站，其中：全海深无人潜水器通过零浮力缆与被动光纤收放装置相连，被动光纤收放装置通过光纤缆与主动光纤收放装置相连，主动光纤收放装置通过光纤缆搭载于中继潜水器上并传输信号，水面吊放系统与中继潜水器相连，水面监控动力站通过铠装金属脐带缆对中继潜水器传输动力和信号。本发明通过中继潜水器在水面和水下保护全海深无人潜水器，降低丢失风险，安全可靠；在作业过程中实现在不同地点水下作业，缩短了时间。
A deep-sea deployment and recovery device for a full-sea unmanned submersible and a method for realizing it, comprising: a full-sea unmanned submersible, a relay submersible, an active optical fiber retractable device, a passive optical fiber retractable device, an optical fiber cable, and zero buoyancy. cable, armored metal umbilical cable, surface lifting system and water surface monitoring power station, among which: the full-sea unmanned submersible is connected to the passive optical fiber retraction device through the zero buoyancy cable, and the passive optical fiber retraction device is connected to the active optical fiber through the optical fiber cable The retractable device is connected, the active optical fiber retractable device is mounted on the relay submersible through the optical fiber cable and transmits signals, the surface hoisting system is connected with the relay submersible, and the surface monitoring power station is connected to the relay submersible through the armored metal umbilical cable Transmission of power and signals. The invention protects the full-sea depth unmanned submersible on the surface and underwater through the relay submersible, reduces the risk of loss, is safe and reliable; realizes underwater operations at different locations during the operation process, and shortens the time.
Description
技术领域technical field
本发明涉及的是一种海洋勘探装置领域的技术，具体是一种全海深无人潜水器深海布放回收装置及实现方法。The invention relates to a technology in the field of marine exploration devices, in particular to a deep-sea deployment and recovery device for a full-sea unmanned submersible and an implementation method thereof.
背景技术Background technique
随着全球在探索深海、开发利用深海资源以及保障国家深海安全等方面需求不断增加，越来越多的水下新型设备研发并投入使用，相对应的回收设备也在不断完善中。With the increasing global demand for exploring the deep sea, developing and utilizing deep-sea resources, and ensuring national deep-sea safety, more and more new underwater equipment has been developed and put into use, and the corresponding recovery equipment has also been continuously improved.
现有布放回收技术存在以下缺点：1)通过光纤缆布放直接穿越水面，存在光纤缆破断导致潜器实时通讯中断以及潜器丢失的风险；2)光纤用完之后不能全部回收，不能反复利用，丢失的光纤可能会污染海底；3)系统在指定区域完成作业之后，需要回收至水面通过母船移至另外一个区域，再开展新一次的全海深布放，费力费时。The existing deployment and recovery technology has the following shortcomings: 1) The optical fiber cable is deployed directly across the water surface, and there is a risk of interruption of the real-time communication of the submersible and loss of the submersible due to the breakage of the optical fiber cable; 2) After the optical fiber is used up, it cannot be fully recovered and cannot be repeated 3) After the system completes the operation in the designated area, it needs to be recovered to the water surface and moved to another area through the mother ship, and then a new full-sea deep deployment is carried out, which is labor-intensive and time-consuming.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术存在的上述不足，提出一种全海深无人潜水器深海布放回收装置。Aiming at the above shortcomings of the prior art, the present invention proposes a deep-sea deployment and recovery device for a full-sea unmanned submersible.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
本发明包括：中继潜水器、主动光纤收放装置、被动光纤收放装置、水面吊放系统和水面监控动力站，其中：被动光纤收放装置通过零浮力缆与全海深无人潜水器相连并传输光信号以实现对全海深无人潜水器的运动控制，被动光纤收放装置通过光纤缆与主动光纤收放装置相连并传输光信号，主动光纤收放装置通过光纤缆搭载于中继潜水器上并传输全海深无人潜水器光信号，水面监控动力站、水面吊放系统和中继潜水器依次通过铠装金属脐带缆相连并传输光信号、动力以及电信号。The invention includes: a relay submersible, an active optical fiber retracting and releasing device, a passive optical fiber retracting device, a water surface hoisting system and a water surface monitoring power station, wherein the passive optical fiber retracting and releasing device communicates with the full-sea depth unmanned submersible through a zero buoyancy cable Connect and transmit optical signals to realize the motion control of the full-sea depth unmanned submersible. The submersible is connected to the submersible and transmits the optical signal of the deep-sea unmanned submersible. The surface monitoring power station, the surface lifting system and the relay submersible are connected in turn through the armored metal umbilical cable and transmit the optical signal, power and electrical signal.
所述的铠装金属脐带缆末端设有用于在水中呈S型的深海浮球。The end of the armored metal umbilical cable is provided with a deep-sea floating ball that is S-shaped in water.
所述的中继潜水器在水中呈零浮力，其包括：本体结构及设置于其上的本体浮力装置、用于垂向运动控制的垂直推进机构、用于潜水器水平运动控制的水平推进机构、灯光及摄像装置、配电装置、控制单元和布放回收机构，其中：控制单元分别与垂直推进机构、水平推进机构通过电缆相连并传输控制信号，布放回收机构设置于中继潜水器一侧，被动光纤收放装置设置于中继潜水器另一侧。The relay submersible has zero buoyancy in water, and it includes: a body structure and a body buoyancy device arranged on it, a vertical propulsion mechanism for vertical motion control, and a horizontal propulsion mechanism for the horizontal motion control of the submersible. , lighting and camera device, power distribution device, control unit and deployment and recovery mechanism, wherein: the control unit is respectively connected with the vertical propulsion mechanism and the horizontal propulsion mechanism through cables and transmits control signals, and the deployment and recovery mechanism is arranged on one side of the relay submersible , the passive optical fiber retractable device is arranged on the other side of the relay submersible.
所述的布放回收机构为喇叭式框架结构。The deployment and recovery mechanism is a horn-type frame structure.
所述的主动光纤收放装置包括：机架及设置于其上的光纤存储装置、减张力牵引装置、光纤输送装置和用于提供动力的驱动装置，其中：驱动装置与中继器的控制单元通过电缆相连并传输控制信号，驱动装置实现光纤存储装置、减张力牵引装置和光纤输送装置的运动。The active optical fiber retracting and unwinding device includes: a frame and an optical fiber storage device, a tension-reducing pulling device, an optical fiber conveying device, and a driving device for providing power, wherein: the driving device and the control unit of the repeater Connected by cables and transmits control signals, the driving device realizes the movement of the optical fiber storage device, the tension reducing pulling device and the optical fiber conveying device.
所述的被动光纤收放装置在水中呈零浮力，其包括：框体及设置于其上的浮力装置、光纤存储装置、光纤计米装置、灯光摄像装置、接线装置和光纤切割装置，其中：纤存储装置与接线装置通过光纤相连并传输光信号，光纤计米装置和接线装置通过电缆相连并传输电信号，灯光及摄像装置和接线装置相连并传输视频信息。The passive optical fiber retracting and releasing device has zero buoyancy in water, and includes: a frame body and a buoyancy device, an optical fiber storage device, an optical fiber metering device, a lighting camera device, a wiring device and an optical fiber cutting device arranged on it, wherein: The fiber storage device and the wiring device are connected by optical fibers and transmit optical signals, the optical fiber meter device and the wiring device are connected by cables and transmit electrical signals, and the lighting and camera devices are connected with the wiring device and transmit video information.
本发明涉及一种基于上述装置的布放回收方法，包括以下步骤：The present invention relates to a method for laying and recycling based on the above-mentioned device, comprising the following steps:
第一步、甲板上将全海深无人潜水器搭载于中继潜水器中；The first step is to mount the full-sea unmanned submersible in the relay submersible on the deck;
第二步、通过水面吊放系统将搭载了全海深无人潜水器的中继潜水器吊放入水中；The second step is to hoist the relay submersible equipped with the full-sea unmanned submersible into the water through the surface hoisting system;
第三步、铠装金属脐带缆布放中继潜水器至指定深度后，停止布放；The third step is to stop the deployment after the armored metal umbilical cable is deployed to the specified depth;
第四步、通过水面监控动力站远程操作全海深无人潜水器游出中继潜水器；The fourth step is to remotely operate the full-sea unmanned submersible to swim out of the relay submersible through the surface monitoring power station;
第五步、中继潜水器通过光纤缆控制继续下潜，中继潜水器上的主动光纤收放装置同时对光纤缆进行布放，被动光纤收放装置中的光纤缆开始释放。The fifth step, the relay submersible continues to dive under the control of the optical fiber cable, the active optical fiber retraction device on the relay submersible simultaneously lays out the optical fiber cable, and the optical fiber cable in the passive optical fiber retraction device begins to be released.
第六步、全海深无人潜水器到达海底，操作人员在水面监控动力站远程通过铠装金属脐带缆和光纤缆对全海深无人潜水器进行实时控制，开展水下作业；The sixth step, the full-sea unmanned submersible reaches the bottom of the sea, and the operator remotely controls the full-sea depth unmanned submersible through the armored metal umbilical cable and optical fiber cable at the surface monitoring power station to carry out underwater operations;
第七步、全海深无人潜水器完成水下作业后，开始上浮；Step 7. After the full-sea unmanned submersible completes the underwater operation, it starts to float;
第八步、接近中继潜水器附近时，操作人员在水面监控动力站远程通过铠装金属脐带缆和光纤缆对中继潜水器和全海深无人潜水器进行实时控制，操作全海深无人潜水器游进中继潜水器；The eighth step, when approaching the relay submersible, the operator remotely controls the relay submersible and the full-depth unmanned submersible through the armored metal umbilical cable and optical fiber cable at the surface monitoring power station, and operates the full-sea depth. The unmanned submersible swims into the relay submersible;
第九步、如果需要移动船舶开展另外区域的水下作业，通过水面监控动力站控制中继潜水器与母船协同运动，到达指定地点后再重复第三步至第八步；Step 9. If you need to move the ship to carry out underwater operations in another area, control the relay submersible to move in coordination with the mother ship through the surface monitoring power station, and then repeat steps 3 to 8 after reaching the designated location;
第十步、全海深无人潜水器完成水下作业后，通过水面吊放系统将搭载了全海深无人潜水器的中继潜水器回收至水面。Step 10. After the full-sea unmanned submersible completes the underwater operation, the relay submersible carrying the full-sea unmanned submersible is recovered to the surface through the surface hoisting system.
技术效果technical effect
与现有技术相比，本发明具有以下技术效果：Compared with the prior art, the present invention has the following technical effects:
1、通过中继潜水器在水面和水下保护全海深无人潜水器，降低丢失风险，安全可靠；1. Protect the deep-sea unmanned submersibles on the surface and underwater through relay submersibles, reduce the risk of loss, and be safe and reliable;
2、光纤缆可以反复使用，降低了成本，同时不会对海底造成污染；2. The optical fiber cable can be used repeatedly, which reduces the cost and does not cause pollution to the seabed;
3、可用于全海深范围内的潜水器布放回收，在作业过程中实现在不同地点高效水下作业，无需回收至水面再更换地点作业，缩短作业时间，降低费用。3. It can be used for the deployment and recovery of submersibles in the entire depth of the sea. During the operation process, it can achieve efficient underwater operations at different locations. It is not necessary to recycle to the surface and then change the location to operate, shortening the operation time and reducing costs.
附图说明Description of drawings
图1为本发明结构示意图；Fig. 1 is the structural representation of the present invention;
图2为本发明中继潜水器示意图；Fig. 2 is the schematic diagram of the relay submersible of the present invention;
图3为本发明主动光纤收放装置示意图；3 is a schematic diagram of an active optical fiber retracting and releasing device according to the present invention;
图4为本发明被动光纤收放装置示意图；4 is a schematic diagram of the passive optical fiber retracting and releasing device of the present invention;
图中：全海深无人潜水器1、中继潜水器2、主动光纤收放装置3、被动光纤收放装置4、光纤缆5、零浮力缆6、铠装金属脐带缆7、水面吊放系统8、水面监控动力站9、垂直推进机构10、水平推进机构11、布放回收机构12、水平推进机构13、控制单元14、灯光摄像装置15、配电装置16、布放回收机构17、机架18、光纤存储装置19、减张力牵引装置20、光纤输送装置21、驱动装置22、框体23、浮力装置24、光纤存储装置25、光纤计米装置26、灯光摄像装置27、接线装置28、光纤切割装置29、深海浮球30。In the picture: full-sea unmanned submersible 1, relay submersible 2, active optical fiber retractor 3, passive optical fiber retractor 4, optical fiber cable 5, zero buoyancy cable 6, armored metal umbilical cable 7, surface crane release system 8, water surface monitoring power station 9, vertical propulsion mechanism 10, horizontal propulsion mechanism 11, deployment recovery mechanism 12, horizontal propulsion mechanism 13, control unit 14, lighting camera device 15, power distribution device 16, deployment recovery mechanism 17 , rack 18, optical fiber storage device 19, tension reduction traction device 20, optical fiber conveying device 21, driving device 22, frame 23, buoyancy device 24, optical fiber storage device 25, optical fiber meter device 26, light camera device 27, wiring Device 28 , fiber cutting device 29 , deep-sea float 30 .
具体实施方式Detailed ways
如图1所示，为本实施例涉及的一种全海深无人潜水器深海布放回收装置，其中包含：全海深无人潜水器1、中继潜水器2、主动光纤收放装置3、被动光纤收放装置4、光纤缆5、零浮力缆6、铠装金属脐带缆7、水面吊放系统8和水面监控动力站9，其中：全海深无人潜水器1通过零浮力缆6与被动光纤收放装置4相连，被动光纤收放装置4通过光纤缆5与主动光纤收放装置3相连，主动光纤收放装置3通过光纤缆5搭载于中继潜水器2上并传输全海深无人潜水器1的信号，水面吊放系统8通过铠装金属脐带缆7与中继潜水器2相连，水面监控动力站9通过铠装金属脐带缆7对中继潜水器2传输动力和信号。As shown in FIG. 1 , a deep-sea deployment and recovery device for a full-sea unmanned submersible involved in this embodiment includes: a full-sea unmanned submersible 1 , a relay submersible 2 , and an active optical fiber retractable device 3. Passive optical fiber retracting and releasing device 4, optical fiber cable 5, zero buoyancy cable 6, armored metal umbilical cable 7, surface lifting system 8 and water surface monitoring power station 9, of which: full-sea deep unmanned submersible 1 passes through zero buoyancy The cable 6 is connected to the passive optical fiber retracting and releasing device 4, the passive optical fiber retracting device 4 is connected to the active optical fiber retracting and releasing device 3 through the optical fiber cable 5, and the active optical fiber retracting device 3 is mounted on the relay submersible 2 through the optical fiber cable 5 and transmits The signal of the full-sea unmanned submersible 1, the surface hoisting system 8 is connected to the relay submersible 2 through the armored metal umbilical cable 7, and the surface monitoring power station 9 transmits the relay submersible 2 through the armored metal umbilical cable 7 Power and Signal.
所述的铠装金属脐带缆7末端设有用于在水中呈S型的深海浮球30。The end of the armored metal umbilical cable 7 is provided with a deep-sea floating ball 30 for S-shaped in water.
如图2所示，所述的中继潜水器2包括：本体结构10、本体浮力装置11、垂直推进机构12、水平推进机构13、控制单元14、灯光摄像装置15、配电装置16和布放回收机构17，其中：本体浮力装置11、垂直推进机构12、水平推进机构13、灯光及摄像装置14、控制单元14、灯光摄像装置15、配电装置16设置于本体结构10上，布放回收机构17在本体结构10一侧，主动光纤收放装置3在本体结构10另一侧。As shown in FIG. 2, the relay submersible 2 includes: a body structure 10, a body buoyancy device 11, a vertical propulsion mechanism 12, a horizontal propulsion mechanism 13, a control unit 14, a lighting camera device 15, a power distribution device 16, and a layout Recovery mechanism 17, wherein: the main body buoyancy device 11, the vertical propulsion mechanism 12, the horizontal propulsion mechanism 13, the lighting and camera device 14, the control unit 14, the lighting camera device 15, and the power distribution device 16 are arranged on the main body structure 10, and are arranged and recovered. The mechanism 17 is on one side of the main body structure 10 , and the active optical fiber retracting device 3 is on the other side of the main body structure 10 .
所述的中继潜水器2包括：本体结构10、本体浮力装置11、垂直推进机构12、水平推进机构13、控制单元14、灯光摄像装置15、配电装置16和布放回收机构17，其中：本体浮力装置11、垂直推进机构12、水平推进机构13、灯光及摄像装置14、控制单元14、灯光摄像装置15、配电装置16设置于本体结构10上，布放回收机构17在本体结构10一侧，主动光纤收放装置3在本体结构10另一侧。The relay submersible 2 includes: a main body structure 10, a main body buoyancy device 11, a vertical propulsion mechanism 12, a horizontal propulsion mechanism 13, a control unit 14, a lighting camera device 15, a power distribution device 16 and a deployment and recovery mechanism 17, wherein: The main body buoyancy device 11 , the vertical propulsion mechanism 12 , the horizontal propulsion mechanism 13 , the lighting and camera device 14 , the control unit 14 , the lighting camera device 15 , and the power distribution device 16 are arranged on the main body structure 10 , and the recovery mechanism 17 is arranged on the main body structure 10 . On one side, the active optical fiber retracting device 3 is on the other side of the main body structure 10 .
如图3所示，所述的主动光纤收放装置3包括：机架18、光纤存储装置19、减张力牵引装置20、光纤输送装置21和驱动装置22，其中光纤存储装置19、减张力牵引装置20、光纤输送装置21和驱动装置布置22于机架18上，驱动装置22与中继器的控制单元14相连并传输控制信息。As shown in FIG. 3 , the active optical fiber receiving and unwinding device 3 includes: a frame 18 , an optical fiber storage device 19 , a tension-reducing pulling device 20 , an optical fiber conveying device 21 and a driving device 22 , wherein the optical fiber storage device 19 , the tension-reducing pulling device 22 The device 20, the optical fiber conveying device 21 and the driving device 22 are arranged on the rack 18, and the driving device 22 is connected with the control unit 14 of the repeater and transmits control information.
如图4所示，所述的被动光纤收放装置4包括：框体23、浮力装置24、光纤存储装置25、光纤计米装置26、灯光摄像装置27、接线装置28、光纤切割装置29，被动光纤收放装置在水中呈零浮力，其中纤存储装置25、光纤计米装置26、灯光及摄像装置27、接线装置28和光纤切割装置29设置于框体23上。As shown in FIG. 4 , the passive optical fiber retracting and releasing device 4 includes: a frame body 23, a buoyancy device 24, an optical fiber storage device 25, an optical fiber metering device 26, a lighting camera device 27, a wiring device 28, and an optical fiber cutting device 29. The passive optical fiber retracting device has zero buoyancy in water, wherein the fiber storage device 25 , the optical fiber metering device 26 , the lighting and camera device 27 , the wiring device 28 and the optical fiber cutting device 29 are arranged on the frame body 23 .
所述的布放回收机构12为喇叭式框架结构。The deployment and recovery mechanism 12 is a trumpet frame structure.
本实施例涉及基于上述装置的布放回收方法，包括以下步骤：The present embodiment relates to a deployment and recovery method based on the above-mentioned device, comprising the following steps:
第一步、甲板上将全海深无人潜水器搭载于中继潜水器中；The first step is to mount the full-sea unmanned submersible in the relay submersible on the deck;
第二步、通过水面吊放系统将搭载了全海深无人潜水器的中继潜水器吊放入水中；The second step is to hoist the relay submersible equipped with the full-sea unmanned submersible into the water through the surface hoisting system;
第三步、铠装金属脐带缆布放中继潜水器至指定深度后，停止布放；The third step is to stop the deployment after the armored metal umbilical cable is deployed to the specified depth;
第四步、通过水面监控动力站远程操作全海深无人潜水器游出中继潜水器；The fourth step is to remotely operate the full-sea unmanned submersible to swim out of the relay submersible through the surface monitoring power station;
第五步、中继潜水器通过光纤缆控制继续下潜，中继潜水器上的主动光纤收放装置同时对光纤缆进行布放，被动光纤收放装置中的光纤缆开始释放。The fifth step, the relay submersible continues to dive under the control of the optical fiber cable, the active optical fiber retraction device on the relay submersible simultaneously lays out the optical fiber cable, and the optical fiber cable in the passive optical fiber retraction device begins to be released.
第六步、全海深无人潜水器到达海底，操作人员在水面监控动力站远程通过铠装金属脐带缆和光纤缆对全海深无人潜水器进行实时控制，开展水下作业；The sixth step, the full-sea unmanned submersible reaches the bottom of the sea, and the operator remotely controls the full-sea depth unmanned submersible through the armored metal umbilical cable and optical fiber cable at the surface monitoring power station to carry out underwater operations;
第七步、全海深无人潜水器完成水下作业后，开始上浮；Step 7. After the full-sea unmanned submersible completes the underwater operation, it starts to float;
第八步、接近中继潜水器附近时，操作人员在水面监控动力站远程通过铠装金属脐带缆和光纤缆对中继潜水器和全海深无人潜水器进行实时控制，操作全海深无人潜水器游进中继潜水器；The eighth step, when approaching the relay submersible, the operator remotely controls the relay submersible and the full-depth unmanned submersible through the armored metal umbilical cable and optical fiber cable at the surface monitoring power station, and operates the full-sea depth. The unmanned submersible swims into the relay submersible;
第九步、如果需要移动船舶开展另外区域的水下作业，通过水面监控动力站控制中继潜水器与母船协同运动，到达指定地点后再重复第三步至第八步；Step 9. If you need to move the ship to carry out underwater operations in another area, control the relay submersible to move in coordination with the mother ship through the surface monitoring power station, and then repeat steps 3 to 8 after reaching the designated location;
第十步、全海深无人潜水器完成水下作业后，通过水面吊放系统将搭载了全海深无人潜水器的中继潜水器回收至水面。Step 10. After the full-sea unmanned submersible completes the underwater operation, the relay submersible carrying the full-sea unmanned submersible is recovered to the surface through the surface hoisting system.
上述具体实施可由本领域技术人员在不背离本发明原理和宗旨的前提下以不同的方式对其进行局部调整，本发明的保护范围以权利要求书为准且不由上述具体实施所限，在其范围内的各个实现方案均受本发明之约束。The above-mentioned specific implementation can be partially adjusted by those skilled in the art in different ways without departing from the principle and purpose of the present invention. The protection scope of the present invention is subject to the claims and is not limited by the above-mentioned specific implementation. Each implementation within the scope is bound by the present invention.
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